WebSVN - NaviCtrl - Diff - Rev 224 and 225

 /*#######################################################################################*/
 /* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
 /*#######################################################################################*/
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 2008 Ingo Busker, Holger Buss
 // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
 // + FOR NON COMMERCIAL USE ONLY
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
 //
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <string.h>
 #include "91x_lib.h"
 #include "waypoints.h"
 #include "uart1.h"
 // the waypoints list
 #define WPLISTLEN 21
 #define MAXWPNUMBER (WPLISTLEN-1)
 Waypoint_t WPList[WPLISTLEN];
-u8 WPIndex = 0;
+u8 WPIndex = 0;         // index of GPS point representig the WP
+u8 POIIndex = 0;        // index of GPS Point representing the current POI
 u8 WPNumber = 0;
 u8 WPList_Init(void)
+{
         return WPList_Clear();
+}
 u8 WPList_Clear(void)
+{
         u8 i;
-        WPIndex = 0; // invalid index
+        WPIndex = 0;    // invalid index
+        POIIndex = 0;   // invalid index
-        WPNumber = 0; // no contents
+        WPNumber = 0;   // no contents
         NaviData.WaypointNumber = WPNumber;
         NaviData.WaypointIndex = WPIndex;
-        for(i = 1; i < WPLISTLEN; i++)
+        for(i = 0; i < WPLISTLEN; i++)
+        {
                 WPList[i].Position.Status = INVALID;
                 WPList[i].Position.Latitude = 0;
                 WPList[i].Position.Longitude = 0;
                 WPList[i].Position.Altitude = 0;
                 WPList[i].Heading = -1;
                 WPList[i].ToleranceRadius = 0;  // in meters, if the MK is within that range around the target, then the next target is triggered
                 WPList[i].HoldTime = 0;                 // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
                 WPList[i].Event_Flag = 0;               // future implementation
+        }
         return TRUE;
+}
 u8 WPList_GetCount(void)
+{
         return WPNumber;
+}
 u8 WPList_Append(Waypoint_t* pwp)
+{
         if(WPNumber < MAXWPNUMBER) // there is still some space in the list
+        {
-                WPNumber++;
                 memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry
                 WPList[WPNumber].Position.Status = NEWDATA;             // mark as new data                                                                             // increment list length
+                WPNumber++;
                 NaviData.WaypointNumber = WPNumber;
                 return TRUE;
+        }
         else return FALSE;
+}
-// rewind to the begin of the list, and returns the first waypoint
+// returns the first waypoint
 Waypoint_t* WPList_Begin(void)
+{
         if(WPNumber > 0)
+        {
+                u8 i, wp_found = 0;
+                // search for first wp in list
-                WPIndex = 1; // reset list index
+                for(i = 0; i < WPNumber; i++)
+                {
+                        if(WPList[i].Type == POINT_TYPE_WP)
+                        {
+                                wp_found = 1;
+                                break;
+                        }
+                }
+                if(wp_found) // found a WP in the list
+                {
+                        WPIndex = i+1;
-                NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = WPIndex;
+                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        else POIIndex = 0;
-                return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list
+                        return(&(WPList[WPIndex-1])); // if list is not empty return pointer to first waypoint in the list
+                }
+                else  // found no WP within the list
+                {
+                        WPIndex = 0;
+                        POIIndex = 0;
+                        NaviData.WaypointIndex = WPIndex;
+                        return NULL;
+                }
+        }
-        else
+        else // empty list
+        {
                 WPIndex = 0; // invalid index
+                POIIndex = 0;
-                NaviData.WaypointIndex = 0;
+                NaviData.WaypointIndex = WPIndex;
-                return NULL; // else return NULL
+                return NULL;
+        }
+}
-// jump to the end of the list, and returns the last waypoint
+// returns the last waypoint
 Waypoint_t* WPList_End(void)
+{
         if(WPNumber > 0)
+        {
+                // search backward
+                u8 i, wp_found = 0;
+                for(i = 1; i <= WPNumber; i++)
+                {
+                        if(WPList[WPNumber - i].Type == POINT_TYPE_WP)
+                        {
+                                wp_found = 1;
+                                break;
+                        }
+                }
+                if(wp_found) // found a WP within the list
+                {
-                WPIndex = WPNumber;
+                        WPIndex = WPNumber - i + 1;
-                NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = WPIndex;
-                return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list
+                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        else POIIndex = 0;
+                        return(&(WPList[WPIndex-1]));
+                }
+                else
+                {
+                        WPIndex = 0;
+                        POIIndex = 0;
+                        NaviData.WaypointIndex = WPIndex;
+                        return NULL;
+                }
+        }
         else
+        {
                 WPIndex = 0;
+                POIIndex = 0;
                 NaviData.WaypointIndex = WPIndex;
-                return NULL; // else return NULL
+                return NULL;
+        }
+}
 // returns a pointer to the next waypoint or NULL if the end of the list has been reached
 Waypoint_t* WPList_Next(void)
+{
+        if(WPNumber == 0) return NULL;
-        if(WPIndex < WPNumber) // if the next WPIndex exist
+        if((WPIndex > 0) && (WPIndex < WPNumber)) // if the next WP exist
+        {
+                u8 i, wp_found = 0;
+                for(i = WPIndex; i < WPNumber; i++)
+                {
+                        if(WPList[i].Type == POINT_TYPE_WP) // jump over POIs
+                        {
+                                wp_found = 1;
+                                break;
+                        }
+                }
+                if(wp_found)
+                {
-                WPIndex++; // goto next
+                        WPIndex = i+1;
-                NaviData.WaypointIndex = WPIndex;
+                        NaviData.WaypointIndex = WPIndex;
+                        if(WPList[WPIndex-1].Heading < 0) POIIndex = (u8)(-WPList[WPIndex-1].Heading);
+                        else POIIndex = 0;
-                return(&(WPList[WPIndex]));     // return pointer to this waypoint
+                        return(&(WPList[WPIndex-1]));   // return pointer to this waypoint
+                }
+                else return NULL;
+        }
         else return(NULL);
+}
 Waypoint_t* WPList_GetAt(u8 index)
+{
-        if(index <= WPNumber) return(&(WPList[index])); // return pointer to this waypoint
+        if((index > 0) && (index <= WPNumber)) return(&(WPList[index-1]));      // return pointer to this waypoint
         else return(NULL);
+}
 Waypoint_t* WPList_GetPOI(void)
+{
-        if(WPList[0].Position.Status == INVALID) return(NULL);
-        else return(&(WPList[0]));
+        return WPList_GetAt(POIIndex);
+}
-void WPList_SetPOI(Waypoint_t* pwp)
-{
-        memcpy(&WPList[0], pwp, sizeof(Waypoint_t));    // copy wp data to list entry

Subversion Repositories NaviCtrl

(root)/tags/V0.28m/waypoints.c @ 453 - Rev 224 → 225